CN110930366A - Nut loosening detection method for wind power tower cylinder - Google Patents
Nut loosening detection method for wind power tower cylinder Download PDFInfo
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Abstract
The invention relates to a nut loosening detection method for a wind power tower cylinder, which is characterized in that a mark is drawn on a nut by using a fluorescent material, an initial nut image and a current nut image are collected by a vision sensor, the collected original image and the current image are converted into HSV color space from RGB color space, the images are converted into binary images by a set threshold value, the drawn mark is highlighted, the binary images of the original image and the current image are subjected to subtraction, the position change of the mark on the two binary images is compared, and whether the nut is loosened or not is judged. Compared with the prior art, the method can realize automatic detection and judgment of whether the nut in the fan tower barrel is loosened or not, effectively solves the problem of interference of background noise on the shot image caused by factors such as dim light, narrow space, multiple obstacles and the like in the fan tower barrel, provides better visual characteristics for collecting and analyzing pictures and judging the nut loosening by a computer, effectively reduces judgment errors and provides good guarantee for the safety of the tower barrel.
Description
Technical Field
The invention relates to the field of fan inspection, in particular to a nut loosening detection method for a wind power tower.
Background
The wind power plant has the advantages that the distribution points of the lines and the fan areas are multiple and wide, the landform is complex, the natural environment is severe, the wind power plant is often damaged by the natural environment in various degrees, and the routing inspection of the fan and the power transmission line is indispensable work. The current fan inspection method mainly adopts manual inspection, and inspects the conditions of blades, a tower barrel, electric wires and the like by inspection personnel through a telescope under the fan. And what is most troublesome in the fan inspection work is the loosening identification of the nuts at the specific positions of the fan units. The traditional manual inspection mode is time-consuming and labor-consuming, and the efficiency is not high.
The conventional nut loosening recognition method is to draw a straight line mark from the top to the bottom of the bolt and the nut as a whole in an initial state of the bolt being installed. The state of the line is observed after a period of time: if the mark is still a straight line when viewed from the front, the bolt is not loosened; if the condition that the upper part and the lower part are separated from each other in the middle of the mark and do not form a whole straight line is observed, the nut is loosened. The observation mark is generally judged by manual direct on-site judgment and remote shooting through a camera device, so that the time and the energy of inspection personnel are consumed, and misjudgment can occur. Meanwhile, because the inside scene of the fan is dim and the structure is complex, the judgment difficulty is further increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a nut loosening detection method for a wind power tower.
The purpose of the invention can be realized by the following technical scheme:
a nut loosening detection method for a wind power tower cylinder is characterized in that a mark is drawn on a nut by using a fluorescent material, an initial nut image and a current nut image are collected through a vision sensor, an original image and the current image which are collected are converted into an HSV color space from an RGB color space, the images are converted into binary images through a set threshold value, the drawn mark is highlighted, the binary images of the original image and the current image are subjected to subtraction, the change of the positions of the marks on the two binary images is compared, and whether the nut is loosened or not is judged.
Further, the method specifically comprises the following steps:
s1, opening an irradiation tool and a visual sensor to shoot an initial nut image;
s2, converting the initial nut image from an RGB color space to an HSV color space;
s3, extracting a color area at the position of the image mark through a set RGB threshold value, converting the initial nut image into an initial binary image and storing the initial binary image;
s4, when detection is carried out, the irradiation tool and the visual sensor are opened again to shoot the current nut image;
s5, converting the current nut image from an RGB color space to an HSV color space;
s6, extracting a color area at the image mark position through a set threshold value, and converting the current nut image into a current binary image;
and S7, comparing the current binary image with the stored initial binary image through a difference method, and judging that the nut is loosened when the absolute value of the pixel value difference corresponding to the mark position on the binary image is larger than a set judgment value.
Further, the vision sensor and the irradiation tool are installed in the wind power tower in a fixed position.
Furthermore, the fluorescent material adopts oily anti-counterfeiting ink, and presents blue-violet reflected light under the irradiation of ultraviolet light.
Furthermore, the irradiation tool is an ultraviolet lamp.
Further, the RGB thresholds are (113,43,46) to (128,255,255).
Further, in step S6, the calculation expression of the difference method is:
wherein D (x, y) represents a difference image, i (T) represents a current binary image, i (o) represents an original binary image, T represents a threshold value set by binarization of the difference image, D (x, y) is 1 and represents a foreground, and D (x, y) is 0 and represents a background.
Further, the computational expression for converting an image from an RGB color space to an HSV color space is:
R’＝R/255，G’＝G/255，B’＝B/255，
Cmax＝max(R’,G’,B’)，Cmin＝min(R’,G’,B’)，Δ＝Cmax-Cmin，
V＝Cmax；
where R denotes a red pixel value, G denotes a green pixel value, B denotes a blue pixel value, H denotes a hue, S denotes saturation, and V denotes lightness.
Compared with the prior art, the invention has the following advantages:
1. the fluorescent material is used, only the nut needs to be marked, a black marking pen does not need to be used for marking the nut and the bolt at the same time, the operation and the use are simpler and more convenient, the blue-purple color is displayed under the irradiation of ultraviolet light by the fluorescent material and is distinguished from a dark background, and the visual identification accuracy is improved.
2. According to the invention, only the nut needs to be monitored and shot, and the image is converted into the HSV space from the RGB space after shooting, so that the mark on the nut can be more visual and clear when the binary image is converted, and the detection accuracy is improved.
3. By adopting a variable control method, only the position of the nut changes in the whole detection process, the camera and other background parts are kept still, whether the nut is loosened or not is judged by using the change of the marks on the images shot twice, and the influence of background noise is effectively eliminated.
In conclusion, the method and the device can realize automatic detection and judgment of whether the nut in the fan tower barrel is loosened or not, effectively solve the problem that the background noise generated by factors such as dim light, narrow space and many obstacles in the fan tower barrel interferes with the shot image, provide better visual characteristics for a computer to collect and analyze the image and judge the nut loosening, effectively reduce judgment errors and provide good guarantee for the safety of the tower barrel.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2a is a schematic diagram of an initial nut image.
Fig. 2b is a schematic view of a current nut image.
Fig. 3a is a schematic diagram of an initial nut image after color space conversion.
Fig. 3b is a schematic diagram of the current nut image after color space conversion.
FIG. 4a is a diagram of an initial binary image.
FIG. 4b is a diagram of a current binary image.
Fig. 5 is a schematic diagram after the difference processing.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The embodiment provides a nut loosening detection method for a wind power tower. The method comprises the steps of setting a fixed vision sensor (camera) and an irradiation tool in a wind power tower cylinder to shoot a nut needing to be inspected, drawing a mark on the nut by using a fluorescent material, collecting an initial nut image and a current nut image by the vision sensor, converting the collected original image and the current image from an RGB color space into an HSV color space, converting the images into binary images by a set threshold value, highlighting the drawn mark, finally performing subtraction on the binary images of the original image and the current image, comparing the position change of the mark on the two binary images, and judging whether the nut is loosened.
In the embodiment, the fluorescent material adopts oily anti-counterfeiting ink, is suitable for products with non-water-absorbing surfaces such as metal and plastic, has the effects of no trace, scratch resistance and the like, and presents blue-violet reflected light under the irradiation of ultraviolet light. The irradiation tool adopts an ultraviolet lamp, and the ultraviolet wave band is 375 NM.
As shown in fig. 1, the detection method comprises the following specific steps:
step S1, turn on the illumination tool and the vision sensor to take an initial nut image, as shown in fig. 2 a.
Step S2, converting the initial nut image from RGB color space to HSV color space, as shown in fig. 3 a; there are currently more types of color spaces in the field of computer vision. HSV (hue, saturation, lightness) is a more common color model represented by cylindrical coordinates, which remaps the RGB space and is more visually intuitive than the RGB space. The computational expression for converting an image from an RGB color space to an HSV color space is as follows:
R’＝R/255，G’＝G/255，B’＝B/255，
Cmax＝max(R’,G’,B’)，Cmin＝min(R’,G’,B’)，Δ＝Cmax-Cmin，
V＝Cmax；
where R denotes a red pixel value, G denotes a green pixel value, B denotes a blue pixel value, H denotes a hue, S denotes saturation, and V denotes lightness.
Step S3, extracting a color area at the image mark position through a set RGB threshold value, converting the initial nut image into an initial binary image and storing the initial binary image; RGB thresholds (113,43,46) to (128,255,255):
Scalar minValues＝new Scalar(113,43,46)；
Scalar maxValues＝new Scalar(128,255,255)；
in this range, the blue-violet mark part can be extracted and converted into a binarized mask image, as shown in fig. 4 a.
In step S4, when the set detection time is reached, the illumination tool and the vision sensor are turned on again to capture the current nut image, as shown in fig. 2 b.
Step S5, converting the current nut image from RGB color space to HSV color space, where the converted current nut image is shown in fig. 3 b.
Step S6, extracting the color region at the image mark through the set threshold, and converting the current nut image into a current binary image, as shown in fig. 4 b.
Step S7, comparing the current binary image with the stored initial binary image by the difference method, as shown in fig. 5. And when the absolute value of the pixel value difference corresponding to the mark position on the binary image is larger than the set judgment value, judging that the nut is loosened. The difference method is a method for obtaining the contour of a moving target by performing difference operation on two frames of images in the prior art. When the target moves in the monitored scene, a relatively obvious difference appears between two adjacent frames of images, two frames are subtracted, the absolute value of the pixel value difference of the corresponding position of the image is obtained, whether the absolute value is greater than a certain threshold value or not is judged, and then the motion characteristics of the object in the image are analyzed. The calculation expression of the difference method is as follows:
wherein D (x, y) represents a difference image, i (T) represents a current binary image, i (o) represents an original binary image, T represents a threshold value set by binarization of the difference image, D (x, y) is 1 and represents a foreground, and D (x, y) is 0 and represents a background.
The method provides a method for inspecting and judging whether the nut in the fan tower barrel is loosened for inspection personnel, effectively solves the problem that background noise generated by factors such as dark light, narrow space and many obstacles in the fan tower barrel interferes with a shot image, provides better visual characteristics for a computer to collect and analyze pictures and judge whether the nut is loosened, effectively reduces judgment errors and provides good guarantee for the safety of the tower barrel.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A nut loosening detection method for a wind power tower cylinder is characterized in that a fluorescent material is used for drawing a mark on a nut, an initial nut image and a current nut image are collected through a vision sensor, the collected original image and the current image are converted into HSV color space from RGB color space, the images are converted into binary images through a set threshold value, the drawn mark is highlighted, the binary images of the original image and the current image are subjected to subtraction, the position change of the mark on the two binary images is compared, and whether the nut is loosened or not is judged.
2. The nut loosening detection method for the wind power tower cylinder as claimed in claim 1, specifically comprising the steps of:
s1, opening an irradiation tool and a visual sensor to shoot an initial nut image;
s2, converting the initial nut image from an RGB color space to an HSV color space;
s3, extracting a color area at the position of the image mark through a set RGB threshold value, converting the initial nut image into an initial binary image and storing the initial binary image;
s4, when detection is carried out, the irradiation tool and the visual sensor are opened again to shoot the current nut image;
s5, converting the current nut image from an RGB color space to an HSV color space;
s6, extracting a color area at the image mark position through a set threshold value, and converting the current nut image into a current binary image;
and S7, comparing the current binary image with the stored initial binary image through a difference method, and judging that the nut is loosened when the absolute value of the pixel value difference corresponding to the mark position on the binary image is larger than a set judgment value.
3. The method as claimed in claim 2, wherein the visual sensor and the illumination tool are mounted in the wind tower in a fixed position.
4. The method for detecting loosening of the nut of the wind power tower cylinder as claimed in claim 2, wherein the fluorescent material adopts oily anti-counterfeiting ink, and presents bluish purple reflected light under the irradiation of ultraviolet light.
5. The method as claimed in claim 4, wherein the irradiation tool is an ultraviolet lamp.
6. The method for detecting loosening of nuts for wind tower according to claim 2, wherein the RGB thresholds are (113,43,46) to (128,255,255).
7. The method for detecting loosening of nuts used for wind power tower cylinder according to claim 2, wherein in step S6, the calculation expression of the difference method is:
wherein D (x, y) represents a difference image, i (T) represents a current binary image, i (o) represents an original binary image, T represents a threshold value set by binarization of the difference image, D (x, y) is 1 and represents a foreground, and D (x, y) is 0 and represents a background.
8. The method for detecting loosening of nuts used for wind power tower cylinder according to claim 1, wherein the computational expression of converting the image from RGB color space to HSV color space is as follows:
R’＝R/255，G’＝G/255，B’＝B/255，
Cmax＝max(R’,G’,B’)，Cmin＝min(R’,G’,B’)，Δ＝Cmax-Cmin，
V＝Cmax；
where R denotes a red pixel value, G denotes a green pixel value, B denotes a blue pixel value, H denotes a hue, S denotes saturation, and V denotes lightness.
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| CN112595232A (en) * | 2020-12-11 | 2021-04-02 | 上海电气集团股份有限公司 | Bolt positioning device and method for wind turbine generator |
| CN112696325A (en) * | 2020-12-31 | 2021-04-23 | 上海电气集团股份有限公司 | Automatic detection equipment and method for wind turbine generator bolt |
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| CN112388606B (en) * | 2020-11-19 | 2022-02-18 | 上海电气集团股份有限公司 | Method and device for detecting bolt state in wind driven generator |
| CN112595232A (en) * | 2020-12-11 | 2021-04-02 | 上海电气集团股份有限公司 | Bolt positioning device and method for wind turbine generator |
| CN112696325A (en) * | 2020-12-31 | 2021-04-23 | 上海电气集团股份有限公司 | Automatic detection equipment and method for wind turbine generator bolt |
| CN112696325B (en) * | 2020-12-31 | 2022-05-24 | 上海电气集团股份有限公司 | Automatic detection equipment and method for wind turbine generator bolt |
| CN113469966A (en) * | 2021-06-25 | 2021-10-01 | 西南交通大学 | Train bolt looseness detection method based on anti-loosening line identification |
| CN113469966B (en) * | 2021-06-25 | 2023-04-18 | 西南交通大学 | Train bolt looseness detection method based on anti-loosening line identification |
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Application publication date: 20200327 |